The connected vehicle (CV) system is one of the most effective core technologies in intelligent transportation systems. In order to solve the optimal velocity prediction problem for a CV system on urban roads, a multiobjective predictive cruise controller (MOPCC) for vehicles in the CV system is proposed to coordinate multiple performances including safety, tracking ability, ride comfort, and fuel economy. Firstly, with the ad hoc wireless communication technology, the signal phase and timing information is obtained to calculate the feasible velocity range for improving mobility. Then, the optimal target velocity of vehicles is computed by minimizing the fuel economic polynomial models of the vehicle system. Secondly, in order to systematically cope with those multiple performances, the Utopia point method is applied to change the multiobjective optimization problem into Utopia tracking problem. Furthermore, the MOPCC problem is formulated and solved by a fast numerical algorithm, ie, integrated perturbation analysis and sequential quadratic programming. Finally, simulations are presented to demonstrate the effectiveness of the proposed method in terms of improved the multiple performances.